Vehicle control device

Abstract

A vehicle control device is mounted on a vehicle including a driving actuator configured to apply a driving force and a braking actuator configured to apply a braking force. The vehicle control device includes a processor. The processor is configured to correct, when a predetermined condition including at least that the vehicle is decelerating is satisfied, the required driving force and the required braking force so as to increase the required driving force and the required braking force such that a sum of a magnitude of the required driving force and a magnitude of the required braking force is equal to or larger than a magnitude of the component of the gravity acting on the vehicle in the movement direction of the vehicle.

What is claimed is: 
     
       1. A vehicle control device mounted on a vehicle including a driving actuator configured to apply a driving force and a braking actuator configured to apply a braking force, the vehicle control device comprising a processor configured to:
 set a required driving force required of the driving actuator and a required braking force required of the braking actuator, such that an acceleration acting on the vehicle in a movement direction of the vehicle satisfies a required acceleration based on the required acceleration for the vehicle and a component of gravity acting on the vehicle in the movement direction of the vehicle; 
 control the driving actuator based on the required driving force; 
 control the braking actuator based on the required braking force; and 
 increase, when a predetermined condition including at least that the vehicle is decelerating, prior to the vehicle stopping, is satisfied, both of the required driving force and the required braking force such that a magnitude of the component of the gravity acting on the vehicle in the movement direction of the vehicle at a position where the vehicle stops is canceled. 
 
     
     
       2. The vehicle control device according to  claim 1 , wherein the predetermined condition is the vehicle decelerating prior to the vehicle stopping. 
     
     
       3. The vehicle control device according to  claim 1 , wherein the processor is configured to decrease the required driving force in a case where a magnitude of the required braking force is greater than or equal to a magnitude of the component of the gravity acting on the vehicle in the movement direction of the vehicle when a condition of the vehicle transitions from a deceleration state to a stop state after the predetermined condition is satisfied. 
     
     
       4. The vehicle control device according to  claim 1 , wherein the processor is configured to increase the required braking force in a case where a magnitude of the required braking force is less than a magnitude of the component of the gravity acting on the vehicle in the movement direction of the vehicle when a condition of the vehicle transitions from a deceleration state to a stop state after the predetermined condition is satisfied. 
     
     
       5. The vehicle control device according to  claim 1 , wherein the processor is configured to increase the required driving force and the required braking force such that a magnitude of the required driving force and the magnitude of the required braking force become substantially the same value. 
     
     
       6. A method of controlling a vehicle including a driving actuator configured to apply a driving force and a braking actuator configured to apply a braking force, the method comprising:
 setting a required driving force required of the driving actuator and a required braking force required of the braking actuator, such that an acceleration acting on the vehicle in a movement direction of the vehicle satisfies a required acceleration based on the required acceleration for the vehicle and a component of gravity acting on the vehicle in the movement direction of the vehicle; 
 controlling the driving actuator based on the required driving force; 
 controlling the braking actuator based on the required braking force; and 
 increasing, when a predetermined condition including at least that the vehicle is decelerating, prior to the vehicle stopping, is satisfied, both of the required driving force and the required braking force such that a magnitude of the component of the gravity acting on the vehicle in the movement direction of the vehicle at a position where the vehicle stops is canceled. 
 
     
     
       7. The method according to  claim 6 , further comprising decreasing the required driving force in a case where a magnitude of the required braking force is greater than or equal to a magnitude of the component of the gravity acting on the vehicle in the movement direction of the vehicle when a condition of the vehicle transitions from a deceleration state to a stop state after the predetermined condition is satisfied. 
     
     
       8. The method according to  claim 6 , further comprising increasing the required braking force in a case where a magnitude of the required braking force is less than a magnitude of the component of the gravity acting on the vehicle in the movement direction of the vehicle when a condition of the vehicle transitions from a deceleration state to a stop state after the predetermined condition is satisfied. 
     
     
       9. The method according to  claim 6 , further comprising increasing the required driving force and the required braking force such that a magnitude of the required driving force and the magnitude of the required braking force become substantially the same value. 
     
     
       10. A non-transitory computer readable recording medium storing a program including executable instructions, which when executed by a processor, cause the processor to perform a method of controlling a vehicle including a driving actuator configured to apply a driving force and a braking actuator configured to apply a braking force, the method comprising:
 setting a required driving force required of the driving actuator and a required braking force required of the braking actuator, such that an acceleration acting on the vehicle in a movement direction of the vehicle satisfies a required acceleration based on the required acceleration for the vehicle and a component of gravity acting on the vehicle in the movement direction of the vehicle; 
 controlling the driving actuator based on the required driving force; 
 controlling the braking actuator based on the required braking force; and 
 increasing, when a predetermined condition including at least that the vehicle is decelerating, prior to the vehicle stopping, is satisfied, both of the required driving force and the required braking force such that a magnitude of the component of the gravity acting on the vehicle in the movement direction of the vehicle at a position where the vehicle stops is canceled. 
 
     
     
       11. The method according to  claim 10 , further comprising decreasing the required driving force in a case where a magnitude of the required braking force is greater than or equal to a magnitude of the component of the gravity acting on the vehicle in the movement direction of the vehicle when a condition of the vehicle transitions from a deceleration state to a stop state after the predetermined condition is satisfied. 
     
     
       12. The method according to  claim 10 , further comprising increasing the required braking force in a case where a magnitude of the required braking force is less than a magnitude of the component of the gravity acting on the vehicle in the movement direction of the vehicle when a condition of the vehicle transitions from a deceleration state to a stop state after the predetermined condition is satisfied. 
     
     
       13. The method according to  claim 10 , further comprising increasing the required driving force and the required braking force such that a magnitude of the required driving force and the magnitude of the required braking force become substantially the same value.